Most versions of Cakewalk will print music from MIDI files.  It's not
elegant but it will create multiple staffs if that's needed.  Cakewalk
will also do the reverse.  You place notes on a staff and Cakewalk will
create MIDI files.   This mode is useful as an amanuensis but not as
a performance tool.  You can play the MIDI file but it sounds rather
mechanical without modifications.  Come to think of it, "mechanical"
might be okay for mechanical musical instruments.

Cakewalk is now called Sonar -- for whatever reason.  Many other MIDI
programs will also print music.

Bill Finch